Implements of RobotModelBase using Pinocchio. More...

#include <robot_model.h>

Inheritance diagram for franka::RobotModel:

Collaboration diagram for franka::RobotModel:

Public Member Functions
	RobotModel (const std::string &urdf)

void	coriolis (const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &i_total, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &c_ne) override
	Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

void	coriolis (const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &i_total, double m_total, const std::array< double, 3 > &f_x_ctotal, const std::array< double, 3 > &g_earth, std::array< double, 7 > &c_ne) override
	Calculates the Coriolis force vector with configurable gravity (recommended implementation).

void	gravity (const std::array< double, 7 > &q, const std::array< double, 3 > &g_earth, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 7 > &g_ne) override
	Calculates the gravity vector.

void	mass (const std::array< double, 7 > &q, const std::array< double, 9 > &i_total, double m_total, const std::array< double, 3 > &f_x_ctotal, std::array< double, 49 > &m_ne) override
	Calculates the 7x7 inertia matrix.

std::array< double, 16 >	pose (const std::array< double, 7 > &q, int joint_index) override
	Calculates the homogeneous transformation matrix for the specified joint or link.

std::array< double, 16 >	poseEe (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee) override
	Calculates the homogeneous transformation matrix for the end effector, applying the end effector transformation.

std::array< double, 16 >	poseFlange (const std::array< double, 7 > &q) override
	Calculates the homogeneous transformation matrix for the flange.

std::array< double, 16 >	poseStiffness (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee, const std::array< double, 16 > &ee_t_k) override
	Calculates the homogeneous transformation matrix for the stiffness frame.

std::array< double, 42 >	bodyJacobian (const std::array< double, 7 > &q, int joint_index) override
	Calculates the 6x7 body Jacobian for the given joint, relative to that joint's frame.

std::array< double, 42 >	bodyJacobianFlange (const std::array< double, 7 > &q) override
	Calculates the 6x7 body Jacobian for the flange frame, relative to that frame.

std::array< double, 42 >	bodyJacobianEe (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee) override
	Calculates the 6x7 body Jacobian for the end effector frame, relative to that frame.

std::array< double, 42 >	bodyJacobianStiffness (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee, const std::array< double, 16 > &ee_t_k) override
	Calculates the 6x7 body Jacobian for the stiffness frame, relative to that frame.

std::array< double, 42 >	zeroJacobian (const std::array< double, 7 > &q, int joint_index) override
	Calculates the 6x7 zero Jacobian for the given joint, relative to the base frame.

std::array< double, 42 >	zeroJacobianFlange (const std::array< double, 7 > &q) override
	Calculates the 6x7 zero Jacobian for the flange frame, relative to the base frame.

std::array< double, 42 >	zeroJacobianEe (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee) override
	Calculates the 6x7 zero Jacobian for the end effector frame, relative to the base frame.

std::array< double, 42 >	zeroJacobianStiffness (const std::array< double, 7 > &q, const std::array< double, 16 > &f_t_ee, const std::array< double, 16 > &ee_t_k) override
	Calculates the 6x7 zero Jacobian for the stiffness frame, relative to the base frame.

Detailed Description

Implements of RobotModelBase using Pinocchio.

Member Function Documentation

◆ bodyJacobian()

std::array< double, 42 > franka::RobotModel::bodyJacobian	(	const std::array< double, 7 > &	q,
		int	joint_index
	)

overridevirtual

Calculates the 6x7 body Jacobian for the given joint, relative to that joint's frame.

Parameters

[in]	q	Joint position.
[in]	joint_index	The index of the joint/link for which to calculate the Jacobian.

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ bodyJacobianEe()

std::array< double, 42 > franka::RobotModel::bodyJacobianEe	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee
	)

overridevirtual

Calculates the 6x7 body Jacobian for the end effector frame, relative to that frame.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ bodyJacobianFlange()

std::array< double, 42 > franka::RobotModel::bodyJacobianFlange ( const std::array< double, 7 > & q )

overridevirtual

Calculates the 6x7 body Jacobian for the flange frame, relative to that frame.

Parameters

[in] q Joint position.

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ bodyJacobianStiffness()

std::array< double, 42 > franka::RobotModel::bodyJacobianStiffness	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee,
		const std::array< double, 16 > &	ee_t_k
	)

overridevirtual

Calculates the 6x7 body Jacobian for the stiffness frame, relative to that frame.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).
[in]	ee_t_k	The transformation from end effector to stiffness frame (4x4 matrix, column-major).

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ coriolis() [1/2]

void franka::RobotModel::coriolis	(	const std::array< double, 7 > &	q,
		const std::array< double, 7 > &	dq,
		const std::array< double, 9 > &	i_total,
		double	m_total,
		const std::array< double, 3 > &	f_x_ctotal,
		const std::array< double, 3 > &	g_earth,
		std::array< double, 7 > &	c_ne
	)

overridevirtual

Calculates the Coriolis force vector with configurable gravity (recommended implementation).

Unit: \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	dq	Joint velocity.
[in]	i_total	Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[in]	g_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\).
[out]	c_ne	Coriolis force vector. Unit: \([Nm]\).

Implements RobotModelBase.

◆ coriolis() [2/2]

void franka::RobotModel::coriolis	(	const std::array< double, 7 > &	q,
		const std::array< double, 7 > &	dq,
		const std::array< double, 9 > &	i_total,
		double	m_total,
		const std::array< double, 3 > &	f_x_ctotal,
		std::array< double, 7 > &	c_ne
	)

overridevirtual

Calculates the Coriolis force vector (state-space equation): \( c= C \times dq\), in \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	dq	Joint velocity.
[in]	i_total	Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[out]	c_ne	Coriolis force vector. Unit: \([Nm]\).

Implements RobotModelBase.

◆ gravity()

void franka::RobotModel::gravity	(	const std::array< double, 7 > &	q,
		const std::array< double, 3 > &	g_earth,
		double	m_total,
		const std::array< double, 3 > &	f_x_ctotal,
		std::array< double, 7 > &	g_ne
	)

overridevirtual

Calculates the gravity vector.

Unit: \([Nm]\).

Parameters

[in]	q	Joint position.
[in]	gravity_earth	Earth's gravity vector. Unit: \(\frac{m}{s^2}\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_Ctotal	Translation from flange to center of mass of the attached total load.
[out]	g_ne	Gravity vector. Unit: \([Nm]\).

Implements RobotModelBase.

◆ mass()

void franka::RobotModel::mass	(	const std::array< double, 7 > &	q,
		const std::array< double, 9 > &	i_total,
		double	m_total,
		const std::array< double, 3 > &	f_x_ctotal,
		std::array< double, 49 > &	m_ne
	)

overridevirtual

Calculates the 7x7 inertia matrix.

Unit: \([kg \times m^2]\).

Parameters

[in]	q	Joint position.
[in]	i_total	Inertia of the attached total load including end effector, relative to center of mass, given as vectorized 3x3 column-major matrix. Unit: \([kg \times m^2]\).
[in]	m_total	Weight of the attached total load including end effector. Unit: \([kg]\).
[in]	f_x_ctotal	Translation from flange to center of mass of the attached total load. Unit: \([m]\).
[out]	m_ne	Vectorized 7x7 inertia matrix, column-major.

Implements RobotModelBase.

◆ pose()

std::array< double, 16 > franka::RobotModel::pose	(	const std::array< double, 7 > &	q,
		int	joint_index
	)

overridevirtual

Calculates the homogeneous transformation matrix for the specified joint or link.

Parameters

[in]	q	Joint position.
[in]	joint_index	The index of the joint/link for which to calculate the pose.

Returns: Homogeneous transformation matrix (4x4) in column-major order.

Implements RobotModelBase.

◆ poseEe()

std::array< double, 16 > franka::RobotModel::poseEe	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee
	)

overridevirtual

Calculates the homogeneous transformation matrix for the end effector, applying the end effector transformation.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).

Returns: Homogeneous transformation matrix (4x4) in column-major order.

Implements RobotModelBase.

◆ poseFlange()

std::array< double, 16 > franka::RobotModel::poseFlange ( const std::array< double, 7 > & q )

overridevirtual

Calculates the homogeneous transformation matrix for the flange.

Parameters

[in] q Joint position.

Returns: Homogeneous transformation matrix (4x4) in column-major order.

Implements RobotModelBase.

◆ poseStiffness()

std::array< double, 16 > franka::RobotModel::poseStiffness	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee,
		const std::array< double, 16 > &	ee_t_k
	)

overridevirtual

Calculates the homogeneous transformation matrix for the stiffness frame.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).
[in]	ee_t_k	The transformation from end effector to stiffness frame (4x4 matrix, column-major).

Returns: Homogeneous transformation matrix (4x4) in column-major order.

Implements RobotModelBase.

◆ zeroJacobian()

std::array< double, 42 > franka::RobotModel::zeroJacobian	(	const std::array< double, 7 > &	q,
		int	joint_index
	)

overridevirtual

Calculates the 6x7 zero Jacobian for the given joint, relative to the base frame.

Parameters

[in]	q	Joint position.
[in]	joint_index	The index of the joint/link for which to calculate the Jacobian.

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ zeroJacobianEe()

std::array< double, 42 > franka::RobotModel::zeroJacobianEe	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee
	)

overridevirtual

Calculates the 6x7 zero Jacobian for the end effector frame, relative to the base frame.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ zeroJacobianFlange()

std::array< double, 42 > franka::RobotModel::zeroJacobianFlange ( const std::array< double, 7 > & q )

overridevirtual

Calculates the 6x7 zero Jacobian for the flange frame, relative to the base frame.

Parameters

[in] q Joint position.

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

◆ zeroJacobianStiffness()

std::array< double, 42 > franka::RobotModel::zeroJacobianStiffness	(	const std::array< double, 7 > &	q,
		const std::array< double, 16 > &	f_t_ee,
		const std::array< double, 16 > &	ee_t_k
	)

overridevirtual

Calculates the 6x7 zero Jacobian for the stiffness frame, relative to the base frame.

Parameters

[in]	q	Joint position.
[in]	f_t_ee	The transformation from flange to end effector (4x4 matrix, column-major).
[in]	ee_t_k	The transformation from end effector to stiffness frame (4x4 matrix, column-major).

Returns: Vectorized 6x7 Jacobian, column-major.

Implements RobotModelBase.

The documentation for this class was generated from the following file:

include/franka/robot_model.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ bodyJacobian()

◆ bodyJacobianEe()

◆ bodyJacobianFlange()

◆ bodyJacobianStiffness()

◆ coriolis() [1/2]

◆ coriolis() [2/2]

◆ gravity()

◆ mass()

◆ pose()

◆ poseEe()

◆ poseFlange()

◆ poseStiffness()

◆ zeroJacobian()

◆ zeroJacobianEe()

◆ zeroJacobianFlange()

◆ zeroJacobianStiffness()